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You are not overreacting.  I agree with everything culturanta said.  This sort of reverse bestiality seems quite abnormal to me.  The dog is not a consenting partner.  Where is his concern for the needs of the dog?  Please do look up reactive attachment disorder.  Please go to counseling for yourself even if your husband refuses to go.  Take the baby with you. 

I hate for you that you feel unsafe in your own home.  Please treat Sal with extreme caution.  His behavior is very concerning.